Multifunctional all-terrain walking hydraulic excavator

ABSTRACT

A multifunctional all-terrain walking-type hydraulic excavator includes a multifunctional working apparatus ( 2 ), a cab ( 3 ), a slew assembly ( 4 ), a slewing bearing ( 6 ), and a walking-type chassis ( 5 ). By means of a hydraulic capstan ( 5.9 ) arranged at the forward end of the chassis ( 5 ), the excavator is able to perform self-rescue and towing assistance. The walking-type chassis ( 5 ) adapts to terrain through adjustments of the swing angles of the forward and rear legs ( 5.2, 5.4, 5.5, 5.6 ) and thus is able to walk and operate in difficult terrain.

CROSS-REFERENCES TO RELATED APPLICATIONS

This application claims the priority of PCT patent application: PCT/CN2015/070317, filed on Jan. 08, 2015, which claims priority of Chinese patent application No. 201410011760.2, filed on Jan. 10, 2014, the entirety of all of which is incorporated herein by reference.

TECHNICAL FIELD

The present disclosure generally relates to the technical field of excavators, more particularly, relates to a multifunctional all-terrain walking hydraulic excavator.

BACKGROUND

Under the guidance of national policy and the influence of technical progress, China's construction machinery shows rapid development momentum in recent years, featured with large product variety and full product lines. Excavators, one of the important categories of construction machinery, have gained rapid developments. Excavators include a wide range of products, which may be divided into crawler type, wheeled type and walking type according to the walking mode of the excavators. Crawler excavators exhibit better climbing capacity and stability but lower running speed than wheeled excavators, however, both of them have chassis with a fixed structure, resulting in a limited terrain adaptability. Crawler excavators and wheeled excavators may not be operated at complex terrains, such as mountains, and swamps, etc., where they may be unable to travel and work. Moreover, most current excavators have a poor functional expansibility. For example, in one current walking excavator, only the two front wheels can be steered while the two rear wheels cannot. In addition, the steering structure of the front wheels is substantially complicated, and the protection of the fuel tank is insufficient. Due to the poor processing technology, the four hinge joints in the chassis may be different from each other. The coupling or the connection between a forward paw and supporting leg has limited freedom, thus, the adaptability to complex terrain and grip reliability may be poor. Other walking type hydraulic excavators may still exhibit limited adaptability to complex terrains. Meanwhile, due to use of the conventional working apparatus in current walking hydraulic excavators, their walking performance and functional expansibility may be still poor.

TECHNICAL SOLUTION

To solve the above technical problems in the current crawler, wheeled and walking excavators, the present invention provides a multifunctional all-terrain walking hydraulic excavator having a desired functional expansibility and adaptability to complex terrains. Relying on a chassis with strong terrain trafficability and a multifunction work apparatus, the disclosed multifunctional all-terrain walking hydraulic excavator is able to be operated at mountains, steep slopes, swamps, woodlands and other complex sites.

The present invention provides a technical solution including:

A multifunctional all-terrain walking hydraulic excavator, including: a multifunctional working apparatus 2, a cab 3, a slew assembly 4, a slewing bearing 6, and a walking-type chassis 5. The multifunctional working apparatus 2 is entirely hinged at the right front part of the slew assembly 4, and the cab 3 is fixed in the left half of the slew assembly 4. The slew assembly 4 carries the cab 3 and the multifunctional working apparatus 2, and is connected to the walking-type chassis 5 through the slewing bearing 6.

Further, the multifunctional working apparatus 2 includes a bucket 2.1, a quick hitch device 2.2, a telescopic stick 2.3, a stick telescopic hydraulic cylinder 2.3-2, hydraulic quick connectors 2.4, a curved short boom 2.5, a connecting rod 2.6, and a rocker arm 2.7. The curved short boom 2.5 is driven by a single hydraulic cylinder. The telescopic stick 2.3 includes a telescopic stick double-section arm 2.3-1, the stick telescopic hydraulic cylinder 2.3-2, and a telescopic stick base arm 2.3-3. In particular, the telescopic stick double-section arm 2.3-1 and the telescopic stick base arm 2.3-3 have a cross section of rectangular shape, respectively. The telescopic stick double-section arm 2.3-1 is sleeved inside the telescopic stick base arm 2.3-3. The top surface, bottom surface, left surface and right surface of a rear end of the telescopic stick base arm 2.3-3 are fixedly provided with a nylon slider, respectively. The top surface, bottom surface, left surface and right surface of a front end of the telescopic stick base arm 2.3-3 are also fixedly provided with a nylon slider, respectively. A piston end of the stick telescopic hydraulic cylinder 2.3-2 is hinged to the inside of the telescopic stick double-section arm 2.3-1 through a hinge pin, and a barrel end of the stick telescopic hydraulic cylinder 2.3-2 is hinged to the inside of the telescopic stick base arm 2.3-3 through a hinge pin. The telescopic movement of the telescopic stick 2.3 is driven by the stick telescopic hydraulic cylinder 2.3-2, and the rotational movement of the telescopic stick 2.3 is driven by a hydraulic cylinder. Two side surfaces of the telescopic stick base arm 2.3-3 are provided with two hydraulic quick connectors 2.4, respectively. The two hydraulic quick connectors 2.4 at each side surface are respectively connected to an output terminal of a three-position four-way directional control valve through hydraulic hose and, meanwhile, are respectively connected to a relief valve and an oil reservoir through an input terminal of a three-position four-way directional control valve, while the relief valve is further connected to a hydraulic power system. The connecting rod 2.6 and the rocker arm 2.7 are connected to the quick hitch device 2.2 through the hydraulic cylinder. The connecting rod 2.6, the rocker arm 2.7, and the telescopic stick 2.3 further form a linkage mechanism. The bucket 2.1 is mounted on the quick hitch device 2.2.

Further, the quick hitch device 2.2 includes a quick-hitch rack 2.2-1, a quick-hitch cylinder 2.2-2, and a lock tongue 2.2-3. The quick-hitch rack 2.2-1 is provided with a hinge hole 2.2-4 connected to the telescopic stick double-section arm 2.3-1, and a hinge hole 2.2-5 connected to the rocker arm 2.7. The quick-hitch rack 2.2-1 is provided with an open engaging hole 2.2-7 and a hook-shaped engaging hole 2.2-6, both of which are able to be quickly connected to operation equipment. A hinge hole 2.2-8 and a hinge hole 2.2-9 are provided in the middle and rear end of the lock tongue 2.2-3, respectively, and an arc structure is provided in the front end of the lock tongue 2.2-3. The lock tongue 2.2-3 is connected to the quick-hitch rack 2.2-1 through the hinge hole 2.2-8 disposed in the middle of the lock tongue 2.2-3 and, meanwhile, connected to a piston end of the quick-hitch cylinder 2.2-2 through the hinge hole 2.2-9 disposed in the rear end of the lock tongue 2.2-3. A barrel end of the quick-hitch cylinder 2.2-2 is hinged and fixed to the quick-hitch rack 2.2-1.

Further, the walking-type chassis 5 includes a base 5.3, a left-forward walking leg 5.6, a right-forward walking leg 5.5, a left-rear walking leg 5.2, a right-rear walking leg 5.4, four wheels 5.1 and a hydraulic capstan 5.9. The hydraulic capstan 5.9 is arranged at the forward end or front end of the base 5.3. The base 5.3 have four corners, each of which is provided with a hinge hole. The left-forward walking leg 5.6, the right-forward walking leg 5.5, the left-rear walking leg 5.2, the right-rear walking leg 5.4 are connected to the four corners of the base 5.3 through a left-forward-leg hinge 5.6-1, a right-forward-leg hinge 5.5-1, a left-rear-leg hinge 5.2-1, and a right-rear-leg hinge 5.4-1, respectively. The upward and downward movement of the left-forward walking leg 5.6, the right-forward walking leg 5.5, the left-rear walking leg 5.2, the right-rear walking leg 5.4 are driven by a left-forward-walking-leg hydraulic lifting cylinder 5.10, a left-rear-walking-leg hydraulic lifting cylinder 5.11, a right-forward-walking-leg hydraulic lifting cylinder 5.8, and a right-rear-walking-leg hydraulic lifting cylinder 5.7, respectively.

Further, the left-forward walking leg 5.6 includes the left-forward-leg hinge 5.6-1, a left-forward-leg joint 5.6-2, a left-forward-leg wheel hub 5.6-3, a left forward supporting leg 5.6-4, and a left forward paw 5.6-5, all of which are connected to each other through hinged joints. The right-forward walking leg 5.5 includes the right-forward-leg hinge 5.5-1, a right-forward-leg joint 5.5-2, a right-forward-leg wheel hub 5.5-3, a right forward supporting leg 5.5-4, and a right forward paw 5.5-5, all of which are connected to each other through hinged joints. The right forward paw 5.5-5 includes a longitudinal axis 5.5-5-1, through which the right forward paw 5.5-5 is connected to the sleeve located in the front end of the right forward supporting leg 5.5-4. The right forward paw 5.5-5 is formed by welding an M-shaped bend board 5.5-5-2 and three vertical boards having “M” shaped grip teeth 5.5-5-3 together. The front and rear ends of the M-shaped bend board 5.5-5-2 are provided with M″ shaped grip teeth, respectively. When the slope has a small slope angle, the two front vertical boards of the three vertical boards 5.5-5-3 are used to grip the ground or earth. When the slope has a large slope angle, the two rear vertical boards of the three vertical boards 5.5-5-3 are used to grip the ground or earth. The left forward paw 5.6-5 has a same structure as the right forward paw 5.5-5.

Further, the four wheels 5.1 are connected to the left-forward-leg wheel hub 5.6-3, the right-forward-leg wheel hub 5.5-3, a left-rear-leg wheel hub 5.2-3, and a right-rear-leg wheel hub 5.4-3 through four hydraulic motors, respectively.

Further, the left-forward walking leg 5.6, the right-forward walking leg 5.5, the left-rear walking leg 5.2, and the right-rear walking leg 5.4 are independently or simultaneously driven by hydraulic cylinders to swing side-to-side. The steering of the wheels 5.1 are driven by a wheel steering hydraulic cylinder 5.5-7. The swing of the right-forward walking leg 5.5 is driven by a right-rear-walking-leg swing hydraulic cylinder 5.5-6.

Further, at the base 5.3, the left-forward-walking-leg hydraulic lifting cylinder 5.10, the left-rear-walking-leg hydraulic lifting cylinder 5.11, the right-forward-walking-leg hydraulic lifting cylinder 5.8, and the right-rear-walking-leg hydraulic lifting cylinder 5.7, which drive the four walking legs to move upward and downward, are provided with hinging seats arranged crossing symmetrical.

In the present disclosure, wide-base tires are adopted as the front wheels and rear wheels are, and the ground bearing pressure is small. The front wheels and rear wheels are connected to the forward-leg wheel hubs and rear-leg wheel hubs through the hydraulic motors. The slew assembly 4 is a load-bearing component for carrying the cab 3, the multifunctional working apparatus 2 and power apparatus. The slew assembly 4 is connected to the walking-type chassis 5 through the slewing bearing 6, and is driven by a hydraulic rotary motor to achieve a full 360° rotation.

ADVANTAGEOUS EFFECTS

The disclosed multifunctional all-terrain walking hydraulic excavator may have various advantages. The terrain trafficability and adaptability to complex terrains of the whole excavator are enhanced, and the mobility and flexibility in complex operating environments may be significantly improved. Meanwhile, the disclosed multifunctional all-terrain walking hydraulic excavator as a whole may perform a variety of functions, achieve a variety of operations, enlarge the operation scope, and improve the operating efficiency. Moreover, the overall structure may be simple, and the production efficiency may be improved. The advantages of the disclosed multifunctional all-terrain walking hydraulic excavator are explained in details as follows.

First, the terrain trafficability of the whole excavator may be significantly improved. (1) A four-wheel driving with independent hydraulic motors may be realized. For example, two front wheel steering, two rear-wheel steering, all-wheel steering, swinging and steering synchronization in the forward-leg, swinging and steering synchronization in the rear-leg, and crab steering may be realized, featured with small turning radius. (2) In an operating state, the ground clearance of the base may be adjusted through adjusting the up-and-down swing angle of each leg, thus, the disclosed multifunctional all-terrain walking hydraulic excavator may be able to get around obstacles and wade in water. (3) In an operating state, the width of the walking-type chassis may be adjusted through adjusting the left-and-right swing angle of each leg, thus, the disclosed multifunctional all-terrain walking hydraulic excavator may be able to pass through a narrow road and stand across trenches. (4) In an operating state, the disclosed multifunctional all-terrain walking hydraulic excavator may be able to achieve a three-wheel driving and get around obstacles by lifting one of the four walking legs.

Second, the adaptability to complex terrains may be significantly improved by coordinating the forward legs, the rear legs and the working apparatus. The disclosed multifunctional all-terrain walking hydraulic excavator may be able to climb steep slopes, cross vertical obstacles and ditches, and wade in water.

Third, the disclosed multifunctional all-terrain walking hydraulic excavator may exhibit a significantly improved stability and safety when being operated at slopes. (1) By independently adjusting the swing angle of each leg, the slew assembly may remain in a horizontal or near horizontal state. Thus, operators may experience greatly improved operating comfort, and damages to the slewing bearing, engine, and slewing reducer may be reduced. (2) The forward supporting legs may be able to provide a rigid support to the hydraulic excavator, improving the operating stability. (3) The hydraulic capstan arranged at the forward end of the chassis may provide a tether, thus, the operating safety may be guaranteed.

Fourth, the disclosed multifunctional all-terrain walking hydraulic excavator as a whole may have an enhanced functional versatility. (1) A lifting hook in the connecting rod may be able to reliably tether lifting ropes or hooks, thus, the tether may be prevented from falling off. (2) The hydraulic quick connectors disposed at the side surfaces of the working apparatus may provide hydraulic power to various hydraulic equipment, such as hydraulic drilling machine and hydraulic vibroshovels, enhancing the functional expansibility. (3) The quick hitch device may enable the operators in the cab to switch buckets, grapples, hammers and other operations equipment speedily. (4) The hydraulic capstan arranged at the forward end of the chassis may enable vehicle towing, and rescue, etc.

Fifth, the main body of the chassis may have a symmetrical structure. In the four hydraulic lifting cylinders driving the four walking legs, the arrangement of the hinging seats is crossing symmetrical. Thus, the left-forward-leg hinge and the right-rear-leg hinge may have a similar structure, reducing the types of structure, simplifying the fabrication and assembling, and increasing the production efficiency.

DESCRIPTION OF DRAWINGS

The present invention is further explained by the accompanying drawings and embodiments.

FIG. 1 is a schematic diagram of a multifunctional all-terrain walking hydraulic excavator of the present invention.

FIG. 2 is an enlarged schematic view of part A in FIG. 1.

FIG. 3 is a schematic diagram of a quick hitch device.

FIG. 4 is a schematic view of a walking-type chassis of the present invention.

FIG. 5 is a schematic view of a right-forward walking leg of the present invention.

FIG. 6 is a schematic view of a full wheel steering of a walking-type chassis, and swinging and steering of a forward walking leg and a rear walking leg.

FIG. 7 is a schematic view of climbing of the present invention.

FIG. 8 is a schematic view of crossing a trench of the present invention.

FIG. 9 is a schematic view of slope operation of the present invention.

In the drawings, 1 is a breaking hammer, 2 is a multifunctional working apparatus, 2.1 is a bucket, 2.2 is a quick hitch device, 2.2-1 is a quick-hitch rack, 2.2-2 is a quick-hitch cylinder, 2.2-3 is a lock tongue, 2.2-4 is a connecting hole, 2.2-5 is a connecting hole, 2.2-6 is a connecting hole, 2.2-7 is a connecting hole, 2.2-8 is a connecting hole, 2.2-9 is a connecting hole, 2.3 is a telescopic stick, 2.3-1 is a telescopic stick double-section arm, 2.3-2 is a stick telescopic hydraulic cylinder, 2.3-3 is a telescopic stick base arm, 2.4 are hydraulic quick connectors, 2.5 is curved short boom, 2.6 is a connecting rod, 2.6-1 is a lifting hook, 2.7 is a rocker arm, 3 is a cab, 4 is a slew assembly, 5 is a walking-type chassis, 5.1 are wheels, 5.2 is a left-rear walking leg, 5.2-1 is a left-rear-leg hinge, 5.2-2 is a left-rear-leg joint, 5.2-3 is a left-rear-leg wheel hub, 5.3 is a base, 5.4 is a right-rear walking leg, 5.4-1 is a right-rear-leg hinge, 5.4-2 is a right-rear-leg joint, 5.4-3 is a right-rear-leg wheel hub, 5.5 is a right-forward walking leg, 5.5-1 is a right-forward-leg hinge, 5.5-2 is a right-forward-leg joint, 5.5-3 is a right-forward-leg wheel hub, 5.5-4 is a right-forward supporting leg, 5.5-5 is a right-forward paw, 5.5-5-1 is a longitudinal axis, 5.5-5-2 is a bend board, 5.5-5-3 are vertical boards, 5.5-6 is a right-forward-walking-leg swing hydraulic cylinder, 5.5-7 is a wheel steering hydraulic cylinder, 5.6 is a left-forward walking leg, 5.6-1 is a left-forward-leg hinge, 5.6-2 is a left-forward-leg joint, 5.6-3 is a left-forward-leg wheel hub, 5.6-4 is a left-forward supporting leg, 5.6-5 is a left-forward paw, 5.7 is a right-rear-walking-leg hydraulic lifting cylinder, 5.8 is a right-forward-walking-leg hydraulic lifting cylinder, 5.9 is a hydraulic capstan, 5.10 is a left-forward-walking-leg hydraulic lifting cylinder, 5.11 is a left-rear-walking-leg hydraulic lifting cylinder, and 6 is a slewing bearing.

DETAILED DESCRIPTION

The present disclosure is further described with the accompanying drawings.

As shown in FIG. 1, a multifunctional all-terrain walking hydraulic excavator, may include a multifunctional working apparatus 2, a cab 3, a slew assembly 4, a walking-type chassis 5, and a slewing bearing 6. The multifunctional apparatus 2 may be entirely hinged at the right front part of the slew assembly 4, and the cab 3 may be fixed in the left half of the slew assembly 4. The slew assembly 4, which may be a load-bearing component for carrying the cab 3 and the multifunctional working apparatus 2, may be connected to the walking-type chassis 5 through the slewing bearing 6.

As shown in FIG. 1, the multifunctional working apparatus 2 may adopt a “curved short boom +telescopic stick” structure. The multifunctional working apparatus 2 may include a curved short boom 2.5, a telescopic stick 2.3, a bucket 2.1, a connecting rod 2.6, a rocker arm 2.7, a quick hitch device 2.2, a telescopic stick base arm 2.3-3, and hydraulic quick connectors 2.4. The curved short boom 2.5 may be driven by a single hydraulic cylinder. The telescopic stick 2.3 may include a telescopic stick double-section arm 2.3-1, the stick telescopic hydraulic cylinder 2.3-2, and a telescopic stick base arm 2.3-3. The telescopic stick double-section arm 2.3-1 and the telescopic stick base arm 2.3-3 may have a cross section of rectangular shape, respectively. The telescopic stick double-section arm 2.3-1 may be sleeved inside the telescopic stick base arm 2.3-3. The top surface, bottom surface, left surface and right surface of a rear end of the telescopic stick base arm 2.3-3 may be fixedly provided with a nylon slider, respectively; and the top surface, bottom surface, left surface and right surface of a front end of the telescopic stick base arm 2.3-3 may be also fixedly provided with a nylon slider, respectively. As shown in FIG. 1, a piston end of the stick telescopic hydraulic cylinder 2.3-2 may be hinged to the inside of the telescopic stick double-section arm 2.3-1 through a hinge pin, while a barrel end of the stick telescopic hydraulic cylinder 2.3-2 may be hinged to the inside of the telescopic stick base arm 2.3-3 through a hinge pin. The telescopic movement of the telescopic stick 2.3 may be driven by the stick telescopic hydraulic cylinder 2.3-2, such that the telescopic stick double-section arm 2.3-1 may be able to slide inside the telescopic stick base arm 2.3-3. The rotational movement of the telescopic stick 2.3 may be driven by a hydraulic cylinder. Two side surfaces of the telescopic stick base arm 2.3-3 may be provided with two hydraulic quick connectors 2.4, respectively. The number of the hydraulic quick connectors 2.4 may vary according to various practical applications. The two hydraulic quick connectors 2.4 at each side surface may be respectively connected to an output terminal of a three-position four-way directional control valve through hydraulic hose and, meanwhile, may be respectively connected to a relief valve and an oil reservoir through an input terminal of a three-position four-way directional control valve. The relief valve may be further connected to a hydraulic power system. The connecting rod 2.6 and the rocker arm 2.7 may be connected to the quick hitch device 2.2 through the hydraulic cylinder. The connecting rod 2.6, the rocker arm 2.7, and the telescopic stick 2.3 may further form a linkage mechanism. The bucket 2.1 may be mounted on the quick hitch device 2.2. As shown in FIGS. 2-3, the quick hitch device 2.2 may include a quick-hitch rack 2.2-1, a quick-hitch cylinder 2.2-2, and a lock tongue 2.2-3. The quick-hitch rack 2.2-1 may be provided with a hinge hole 2.2-4 connected to the telescopic stick double-section arm 2.3-1, and a hinge hole 2.2-5 connected to the rocker arm 2.7. The quick-hitch rack 2.2-1 may also be provided with an open engaging hole 2.2-7 and a hook-shaped engaging hole 2.2-6, both of which may enable a quick connection to various operation equipment, such as buckets, breaking hammers, etc. A hinge hole 2.2-8 and a hinge hole 2.2-9 may be provided in the middle and rear end of the lock tongue 2.2-3, respectively, and an arc structure may be provided in the front end of the lock tongue 2.2-3. The lock tongue 2.2-3 may be connected to the quick-hitch rack 2.2-1 through the hinge hole 2.2-8 disposed in the middle of the lock tongue 2.2-3 and, meanwhile, connected to a piston end of the quick-hitch cylinder 2.2-2 through the hinge hole 2.2-9 disposed in the rear end of the lock tongue 2.2-3. A barrel end of the quick-hitch cylinder 2.2-2 may be hinged and fixed to the quick-hitch rack 2.2-1. The quick hitch device 2.2 may be connected to a connecting shaft of the operation equipment through the hook-shaped engaging hole 2.2-6, and further push the lock tongue 2.2-3 to rotate around the hinge hole 2.2-8 disposed in the middle of the lock tongue 2.2-3. Thus, the arc structure disposed in the front end of the lock tongue 2.2-3 and the engaging hole 2.2-7 in the quick-hitch rack 2.2-1 may together form a ¾ circle connection hole, and the quick hitch device 2.2 may be connected to another connecting shaft of the operation equipment. To disconnect the quick hitch device 2.2 and the operation equipment, the quick-hitch cylinder 2.2-2 may be retracted, the lock tongue 2.2-3 may rotate around the hinge hole 2.2-8 disposed in the middle of the lock tongue 2.2-3, the circle connection hole formed by the arc structure in the front end of the lock tongue 2.2-3 and the engaging hole 2.2-7 in the quick-hitch rack 2.2-1 may exhibit a larger opening, such that the connecting shafts of the operation equipment may be separated from the quick hitch device 2.2. Such a connection and disconnection of the operation equipment may be realized through controlling the quick-hitch cylinder 2.2-2 by the operator sitting in the cab, featured with simple operation and fast replacement. The various components of the quick hitch device 2.2 may be connected to each other through hinged joints, performing various actions enabled by the telescopic movement of the telescopic hydraulic cylinders. The curved short boom 2.5 and the telescopic stick 2.3 may have a box-sectioned welding structure, respectively, and the connecting rod 2.6 may have a sheet plate welded structure. As shown in FIG. 2, the connecting rod 2.6 may be weld with a lifting hook 2.6-1. The rocker arm 2.7 may be a single thickness plate, and the bucket 2.1 may have a sheet plate welded structure.

As shown in FIGS. 4-5, the walking-type chassis 5 may have a symmetrical structure. The walking-type chassis 5 may include a base 5.3, a left-forward walking leg 5.6, a right-forward walking leg 5.5, a left-rear walking leg 5.2, a right-rear walking leg 5.4, four wheels 5.1 and a hydraulic capstan 5.9. The hydraulic capstan 5.9 may be arranged at the forward end of the base 5.3. The base 5.3 may have four corners, each of which may be provided with a hinge hole. The left-forward walking leg 5.6, the right-forward walking leg 5.5, the left-rear walking leg 5.2, the right-rear walking leg 5.4 may be connected to the four corners of the base 5.3 through a left-forward-leg hinge 5.6-1, a right-forward-leg hinge 5.5-1, a left-rear-leg hinge 5.2-1, and a right-rear-leg hinge 5.4-1, respectively. The upward and downward movement of the left-forward walking leg 5.6, the right-forward walking leg 5.5, the left-rear walking leg 5.2, the right-rear walking leg 5.4 may be driven by a left-forward-walking-leg hydraulic lifting cylinder 5.10, a left-rear-walking-leg hydraulic lifting cylinder 5.11, a right-forward-walking-leg hydraulic lifting cylinder 5.8, and a right-rear-walking-leg hydraulic lifting cylinder 5.7, respectively. The left-forward walking leg 5.6 may include the left-forward-leg hinge 5.6-1, a left-forward-leg joint 5.6-2, a left-forward-leg wheel hub 5.6-3, a left forward supporting leg 5.6-4, and a left forward paw 5.6-5, all of which may be connected to each other through hinged joints. The right-forward walking leg 5.5 may include the right-forward-leg hinge 5.5-1, a right-forward-leg joint 5.5-2, a right-forward-leg wheel hub 5.5-3, a right forward supporting leg 5.5-4, and a right forward paw 5.5-5, all of which may be connected to each other through hinged joints. The right forward paw 5.5-5 may include a longitudinal axis 5.5-5-1, through which the right forward paw 5.5-5 may be connected to the sleeve located in the front end of the right forward supporting leg 5.5-4. The right forward paw 5.5-5 may be formed by welding a M-shaped bend board 5.5-5-2 and three vertical boards having “M” shaped grip teeth 5.5-5-3 together. The front and rear ends of the M-shaped bend board 5.5-5-2 may be provided with a plurality of “M” shaped grip teeth, respectively. When the slope has a small slope angle, the two front vertical boards of the three vertical boards 5.5-5-3 may be used to grip the ground or earth. When the slope has a large slope angle, the two rear vertical boards of the three vertical boards 5.5-5-3 may be used to grip the ground or earth. The left forward paw 5.6-5 may have a similar structure as the right forward paw 5.5-5.

The left-rear walking leg 5.2 and the right-rear walking leg 5.4 may have a similar structure as the right-forward walking leg 5.5 and the left-forward walking leg 5.6, but without any forward supporting legs. The four wheels 5.1 may be respectively connected to the left-forward-leg wheel hub 5.6-3, the right-forward-leg wheel hub 5.5-3, a left-rear-leg wheel hub 5.2-3, and a right-rear-leg wheel hub 5.4-3 through four hydraulic motors.

As shown in FIG. 4, the left-forward walking leg 5.6, the right-forward walking leg 5.5, the left-rear walking leg 5.2, the right-rear walking leg 5.4 may be driven by the hydraulic cylinders to swing side-to-side individually or simultaneously. As shown in FIG. 5, a wheel steering hydraulic cylinder 5.5-7 may be arranged above a right-rear-walking-leg swing hydraulic cylinder 5.5-6. A piston end of the wheel steering hydraulic cylinder 5.5-7 may be hinged to the right-forward-leg wheel hub 5.5-3, and a barrel end of the wheel steering hydraulic cylinder 5.5-7 may be hinged to the right-forward-leg hinge 5.5-1. A piston end of the right-rear-walking-leg swing hydraulic cylinder 5.5-6 may be hinged to the right-forward-leg joint 5.5-2, and a barrel end of the right-rear-walking-leg swing hydraulic cylinder 5.5-6 may be hinged to the right-forward-leg hinge 5.5-1. The steering of the wheels 5.1 may be driven by the wheel steering hydraulic cylinder 5.5-7, and the swing of the right-forward walking leg 5.5 may be driven by the right-rear-walking-leg swing hydraulic cylinder 5.5-6. The wheel steering and swing of the left-forward walking leg 5.6, the left-rear walking leg 5.2, and the right-rear walking leg 5.4 may be driven in a same way as the right-forward walking leg 5.5. Thus, the disclosed multifunctional all-terrain walking hydraulic excavator may exhibit small turning radius, and a four-wheel steering and four-leg swing may be realized, as shown in FIG. 6.

As shown in FIG. 4, the main body of the base 5.3 may have a symmetrical structure. The hinging seats in the left-forward-walking-leg hydraulic lifting cylinder 5.10, the left-rear-walking-leg hydraulic lifting cylinder 5.11, the right-forward-walking-leg hydraulic lifting cylinder 5.8, and the right-rear-walking-leg hydraulic lifting cylinder 5.7 may be arranged to have a crossing symmetrical structure. Thus, the left-forward-leg hinge 5.6-1 may have a similar structure as the right-rear-leg hinge 5.4-1, and the right-forward-leg hinge 5.5-1 may have a similar structure as the left-rear-leg hinge 5.2-1, reducing the types of structure, simplifying the fabrication and assembling, and increasing the production efficiency.

As shown in FIG. 4, the four wheels 5.1 may be wide-base tires, and the ground bearing pressure may be small. Thus, the entire excavator may be preferably to be operated in marshes, woodlands, etc.

As shown in FIG. 7, the excavator may climb a slope as follows. When the excavator arrives at the leg of a slope, the wheels without the paws may face the ramp, while the multifunctional working apparatus 2 may be adjusted to face the leg of the slope. The hydraulic cylinders corresponding to the left-forward walking leg 5.6, the right-forward walking leg 5.5, the left-rear walking leg 5.2, and the right-rear walking leg 5.4 may be operated to realize a maximum expansion of the left-forward walking leg 5.6, the right-forward walking leg 5.5, the left-rear walking leg 5.2, and the right-rear walking leg 5.4. The telescopic stick 2.3 may be shrunk to a minimum length, and the bucket may stand on the ground. Thus, the left-forward walking leg 5.6 and the right-forward walking leg 5.5 may be lifted. The excavator may be pushed upwards by the curved short boom 2.5 and the retractable power generated by the telescopic stick 2.3. Meanwhile, the two wheels 5.1 without the forward paws may also be driven, such that the excavator may be able to climb the slope. When the telescopic stick 2.3 extends to a maximum length, the driving of the telescopic stick 2.3 and the two wheels 5.1 without the forward paws may be terminated. The left-forward walking leg 5.6 and the right-forward walking leg 5.5 may be lowered to the ground. A left forward paw 5.6-5 and a right forward paw 5.5-5 may support the excavator, realizing a horizontal state. After that, the bucket 2.1 may slowly get off the ground, thus, one climbing may be completed.

The excavator may get over a vertical obstacle as follows. The two front wheels 5.1 of the excavator may be arranged in front, and the two rear wheels 5.1 of the excavator may be arranged in back. When the excavator gets close to the vertical obstacle, the telescopic stick 2.3 may shrink to a minimum length through controlling the stick telescopic hydraulic cylinder 2.3-2, and the bucket 2.1 may stand on the vertical obstacle. The two front wheels 5.1 may be slowly lifted, and the two rear wheels 5.1 may be driven to get close to the vertical obstacle. When the two front wheels 5.1 are touching the vertical obstacle, a parking brake the excavator may be pressed down. Then the slew assembly 4 may be rotated, and the bucket 2.1 may stand on the ground near the vertical obstacle. The two rear wheels 5.1 may be slowly lifted and, meanwhile, the two front wheels 5.1 may be driven forward until the two rear wheels 5.1 touch the vertical obstacle, such that the excavator may cross the vertical obstacle.

As shown in FIG. 8, the excavator may get over a trench as follows. According to the width of the trench, the outward swing angles of the left-forward walking leg 5.6, the right-forward walking leg 5.5, the left-rear walking leg 5.2, the right-rear walking leg 5.4 may be adjusted through controlling the corresponding hydraulic cylinders. Thus, the left-to-right axle distance of the wheels 5.1 may be increased, and the excavator may be able to stand across the trench and perform various operations.

As shown in FIG. 1, the excavator may wade in water as follows. According to the water depth, the downward swing angles of the left-forward walking leg 5.6, the right-forward walking leg 5.5, the left-rear walking leg 5.2, the right-rear walking leg 5.4 may be adjusted through controlling the corresponding hydraulic cylinders. Thus, the chassis may be raised, and the excavator may be able to wade in water. In particular, when wading in water, the excavator may be operated in a similar way as climbing a slope.

As shown in FIG. 9, the excavator may be operated on a slope as follows.

The swing angles of the left-forward walking leg 5.6, the right-forward walking leg 5.5, the left-rear walking leg 5.2, and the right-rear walking leg 5.4, including upward, downward, leftward, rightward swing angles, may be adjusted through controlling the corresponding hydraulic cylinders. Thus, the slew assembly 4 may remain in a horizontal or near horizontal state, and the operators may experience greatly improved operating comfort. Meanwhile, damages to the slewing bearing, engine, and slewing reducer may be reduced. In addition, as shown in FIG. 7, when standing on the ground, the left-forward walking leg 5.6, the right-forward walking leg 5.5, the left-rear walking leg 5.2, and the right-rear walking leg 5.4 may provide a rigid support to the hydraulic excavator, thus, the operating stability may be improved. When the excavator is operated on the slope, the hydraulic capstan 5.9 arranged at the forward end of the chassis 5.3 may provide a tether to enhance the safety.

The excavator may be able to achieve a three-wheel driving and get around obstacles by lifting one of the four walking legs. That is, when the excavator is moving, any one of the left-forward walking leg 5.6, the right-forward walking leg 5.5, the left-rear walking leg 5.2, and the right-rear walking leg 5.4 may be lifted to get around the obstacles.

The description of the disclosed embodiments is provided to illustrate the present invention to those skilled in the art. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein. 

What is claimed is:
 1. A multifunctional all-terrain walking hydraulic excavator, comprising: a multifunctional working apparatus (2), a cab (3), a slew assembly (4), a walking-type chassis (5), and a slewing bearing (6), wherein: the multifunctional apparatus (2) is entirely hinged at a right front part of the slew assembly (4); the cab (3) is fixed to a left half of the slew assembly (4); the slew assembly (4) is a load-bearing component for carrying the cab (3) and the multifunctional working apparatus (2); and the slew assembly (4) is connected to the walking-type chassis (5) through the slewing bearing (6).
 2. The multifunctional all-terrain walking hydraulic excavator according to claim 1, wherein: the multifunctional working apparatus (2) includes: a bucket (2.1), a quick hitch device (2.2), a telescopic stick (2.3), a stick telescopic hydraulic cylinder (2.3-2), hydraulic quick connectors (2.4), a curved short boom (2.5), a connecting rod (2.6), and a rocker arm (2.7).
 3. The multifunctional all-terrain walking hydraulic excavator according to claim 2, wherein: the curved short boom (2.5) is driven by a hydraulic cylinder, and the telescopic stick 2.3 includes a telescopic stick double-section arm (2.3-1), the stick telescopic hydraulic cylinder (2.3-2), and a telescopic stick base arm (2.3-3), wherein: the telescopic stick double-section arm (2.3-1) and the telescopic stick base arm (2.3-3) have a cross section of rectangular shape, respectively; the telescopic stick double-section arm (2.3-1) is sleeved inside the telescopic stick base arm (2.3-3); a top surface, a bottom surface, a left surface and a right surface of a rear end of the telescopic stick base arm (2.3-3) are fixedly provided with a nylon slider, respectively; a top surface, a bottom surface, a left surface and a right surface of a front end of the telescopic stick base arm (2.3-3) are fixedly provided with a nylon slider, respectively; a piston end of the stick telescopic hydraulic cylinder (2.3-2) is hinged inside of the telescopic stick double-section arm (2.3-1) through a hinge pin; a barrel end of the stick telescopic hydraulic cylinder (2.3-2) is hinged inside of the telescopic stick base arm (2.3-3) through a hinge pin; a telescopic movement of the telescopic stick (2.3) is driven by the stick telescopic hydraulic cylinder (2.3-2); and a rotational movement of the telescopic stick (2.3) is driven by a hydraulic cylinder.
 4. The multifunctional all-terrain walking hydraulic excavator according to claim 2, wherein: two side surfaces of the telescopic stick base arm (2.3-3) are provided with two hydraulic quick connectors (2.4), respectively; the two hydraulic quick connectors (2.4) at each side surface are respectively connected to an output terminal of a three-position four-way directional control valve through hydraulic hose and, meanwhile, are respectively connected to a relief valve and an oil reservoir through an input terminal of a three-position four-way directional control valve; and the relief valve is further connected to a hydraulic power system.
 5. The multifunctional all-terrain walking hydraulic excavator according to claim 2, wherein: the connecting rod (2.6) and the rocker arm (2.7) are connected to the quick hitch device (2.2) through the hydraulic cylinder; the connecting rod (2.6), the rocker arm (2.7) and the telescopic stick (2.3) further form a linkage mechanism; and the bucket (2.1) is mounted on the quick hitch device (2.2).
 6. The multifunctional all-terrain walking hydraulic excavator according to claim 2, wherein: the quick hitch device (2.2) includes a quick-hitch rack (2.2-1), a quick-hitch cylinder (2.2-2), and a lock tongue (2.2-3), wherein: the quick-hitch rack (2.2-1) is provided with a hinge hole (2.2-4) connected to the telescopic stick double-section arm (2.3-1), a hinge hole (2.2-5) connected to the rocker arm (2.7), an open engaging hole (2.2-7) and a hook-shaped engaging hole (2.2-6) providing a quick connection to operation equipment; a hinge hole (2.2-8) and a hinge hole (2.2-9) are provided in a middle and a rear end of the lock tongue (2.2-3), respectively; an arc structure is provided in a front end of the lock tongue (2.2-3); the lock tongue (2.2-3) is connected to the quick-hitch rack (2.2-1) through the hinge hole (2.2-8) disposed in the middle of the lock tongue (2.2-3), and is connected to a piston end of the quick-hitch cylinder (2.2-2) through the hinge hole (2.2-9) disposed in the rear end of the lock tongue (2.2-3); and a barrel end of the quick-hitch cylinder (2.2-2) is hinged and fixed to the quick-hitch rack (2.2-1).
 7. The multifunctional all-terrain walking hydraulic excavator according to claim 1, further including: a base (5.3), a left-forward walking leg (5.6), a right-forward walking leg (5.5), a left-rear walking leg (5.2), a right-rear walking leg (5.4), four wheels (5.1) and a hydraulic capstan (5.9), wherein: the hydraulic capstan (5.9) is arranged at a forward end of the base (5.3); four corners of the base (5.3) are provided with a hinge hole, respectively; the left-forward walking leg (5.6), the right-forward walking leg (5.5), the left-rear walking leg (5.2), and the right-rear walking leg (5.4) are connected to the four corners of the base (5.3) through a left-forward-leg hinge (5.6-1), a right-forward-leg hinge (5.5-1), a left-rear-leg hinge (5.2-1), and a right-rear-leg hinge (5.4-1), respectively; and the left-forward walking leg (5.6), the right-forward walking leg (5.5), the left-rear walking leg (5.2), and the right-rear walking leg (5.4) are respectively driven by a left-forward-walking-leg hydraulic lifting cylinder (5.10), a left-rear-walking-leg hydraulic lifting cylinder (5.11), a right-forward-walking-leg hydraulic lifting cylinder (5.8), and a right-rear-walking-leg hydraulic lifting cylinder (5.7) to move upwards and downwards.
 8. The multifunctional all-terrain walking hydraulic excavator according to claim 7, wherein: the left-forward walking leg (5.6) includes the left-forward-leg hinge (5.6-1), a left-forward-leg joint (5.6-2), a left-forward-leg wheel hub (5.6-3), a left forward supporting leg (5.6-4), and a left forward paw (5.6-5), all of which are hinged to each other; the right-forward walking leg (5.5) includes the right-forward-leg hinge (5.5-1), a right-forward-leg joint (5.5-2), a right-forward-leg wheel hub (5.5-3), a right forward supporting leg (5.5-4,) and a right forward paw (5.5-5), all of which are hinged to each other; the right forward paw (5.5-5) includes a longitudinal axis (5.5-5-1); the right forward paw (5.5-5) is connected to a sleeve located in a front end of the right forward supporting leg (5.5-4) through the longitudinal axis (5.5-5-1); the right forward paw (5.5-5) is formed by welding a M-shaped bend board (5.5-5-2) and three vertical boards having “M” shaped grip teeth (5.5-5-3) together; a front end and a rear end of the M-shaped bend board (5.5-5-2) are provided with a plurality of “M” shaped grip teeth, respectively; given a slope having a small slope angle, two front vertical boards of the three vertical boards (5.5-5-3) are used to grip the ground; given a slope having a large slope angle, two rear vertical boards of the three vertical boards (5.5-5-3) are used to grip the ground; and the left forward paw (5.6-5) has a similar structure as the right forward paw (5.5-5).
 9. The multifunctional all-terrain walking hydraulic excavator according to claim 8, wherein: the four wheels (5.1) are respectively connected to the left-forward-leg wheel hub (5.6-3), the right-forward-leg wheel hub (5.5-3), a left-rear-leg wheel hub (5.2-3), and a right-rear-leg wheel hub (5.4-3) through four hydraulic motors.
 10. The multifunctional all-terrain walking hydraulic excavator according to claim 9, wherein: the left-forward walking leg (5.6), the right-forward walking leg (5.5), the left-rear walking leg (5.2), and the right-rear walking leg (5.4) are driven by the hydraulic cylinders to swing side-to-side individually or simultaneously; steering of the wheels (5.1) is driven by a wheel steering hydraulic cylinder (5.5-7); and swing of the right-forward walking leg (5.5) is driven by a right-rear-walking-leg swing hydraulic cylinder (5.5-6).
 11. The multifunctional all-terrain walking hydraulic excavator according to claim 10, wherein: at the base (5.3), the left-forward-walking-leg hydraulic lifting cylinder (5.10), the left-rear-walking-leg hydraulic lifting cylinder (5.11), the right-forward-walking-leg hydraulic lifting cylinder (5.8), and the right-rear-walking-leg hydraulic lifting cylinder (5.7), driving the four walking legs upward and downward, have a crossing symmetrical arrangement of hinging seats. 